The experiments described in this paper have been carried out in the ARGoS
simulator [1]}. We employ a dynamical physics model of the robots in
a three dimensional space for maximum fidelity (robots are still restricted to motion
in the XY plane), using a model of the s-bot developed by [2]}. For all
experiments we average the results of 96 experimental runs of \(T = 100,000\)  seconds
for each \(\kappa \)  for the robustness experiments, and \(T = 20,000\)  seconds for all
others.
